test_safety_limiter_base.h

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#ifndef TEST_SAFETY_LIMITER_BASE_H
#define TEST_SAFETY_LIMITER_BASE_H

#include <string>

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <std_msgs/Empty.h>

#include <gtest/gtest.h>

namespace
{
inline void GenerateSinglePointPointcloud2(
    sensor_msgs::PointCloud2& cloud,
    const float x,
    const float y,
    const float z)
{
  cloud.height = 1;
  cloud.width = 1;
  cloud.is_bigendian = false;
  cloud.is_dense = false;
  sensor_msgs::PointCloud2Modifier modifier(cloud);
  modifier.setPointCloud2FieldsByString(1, "xyz");
  sensor_msgs::PointCloud2Iterator<float> iter_x(cloud, "x");
  sensor_msgs::PointCloud2Iterator<float> iter_y(cloud, "y");
  sensor_msgs::PointCloud2Iterator<float> iter_z(cloud, "z");
  modifier.resize(1);
  *iter_x = x;
  *iter_y = y;
  *iter_z = z;
}
}  // namespace

class SafetyLimiterTest : public ::testing::Test
{
protected:
  ros::NodeHandle nh_;
  ros::Publisher pub_cmd_vel_;
  ros::Publisher pub_cloud_;
  ros::Publisher pub_watchdog_;

public:
  inline SafetyLimiterTest()
    : nh_()
  {
    pub_cmd_vel_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel_in", 1);
    pub_cloud_ = nh_.advertise<sensor_msgs::PointCloud2>("cloud", 1);
    pub_watchdog_ = nh_.advertise<std_msgs::Empty>("watchdog_reset", 1);
  }
  inline void publishWatchdogReset()
  {
    std_msgs::Empty watchdog_reset;
    pub_watchdog_.publish(watchdog_reset);
  }
  inline void publishSinglePointPointcloud2(
      const float x,
      const float y,
      const float z,
      const std::string frame_id,
      const ros::Time stamp)
  {
    sensor_msgs::PointCloud2 cloud;
    cloud.header.frame_id = frame_id;
    cloud.header.stamp = stamp;
    GenerateSinglePointPointcloud2(cloud, x, y, z);
    pub_cloud_.publish(cloud);
  }
  inline void publishTwist(
      const float lin,
      const float ang)
  {
    geometry_msgs::Twist cmd_vel_out;
    cmd_vel_out.linear.x = lin;
    cmd_vel_out.angular.z = ang;
    pub_cmd_vel_.publish(cmd_vel_out);
  }
};

#endif  // TEST_SAFETY_LIMITER_BASE_H